Kinematics and cooperative control of a robotic spinal surgery system
文献类型：期刊论文
| 作者 | Jin, Haiyang; Hu, Ying; Tian, Wei; Zhang, Peng; Song, Zhangjun; Zhang, Jianwei; Li, Bing |
| 刊名 | ROBOTICA
 |
| 出版日期 | 2016 |
| 英文摘要 | Spinal surgery is considered a high-risk surgery. To improve the accuracy, stability, and safety of such operations, we report the development of a novel six-degrees-of-freedom Robotic Spinal Surgical System that can assist surgeons in performing transpedicular surgery, one of the most common spinalsurgeries. After optimization performed using Response Surface Methodology, the largest available workspace of the robot is determined and is found to easily cover the entire operation area. Cooperative control and navigation-based active control are implemented for different processes of the operation. We propose a hybrid control approach based on the speed and torque interface at the joint level. In this mode, the robot is compliant in Cartesian space, benefitting both the accuracy and efficiency of the operation. A comprehensive assessment index, combining the subjective and objective criteria in terms of positioning and operation efficiency, is proposed to compare the performance of cooperative control in speed mode, torque mode, and hybridcontrol mode. Active fine adjustment experiments are carried out to verify the positioning accuracy, and the results are found to satisfy the requirementsof operation. As an application example, a pedicle screw insertion experiment is performed on a pig vertebral bone, demonstrating the effectiveness ofour system. |
| 收录类别 | SCI |
| 原文出处 | http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=10055878&fileId=S0263574714001283 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/9838]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | ROBOTICA |
| 推荐引用方式 GB/T 7714 | Jin, Haiyang,Hu, Ying,Tian, Wei,et al. Kinematics and cooperative control of a robotic spinal surgery system[J]. ROBOTICA,2016. |
| APA | Jin, Haiyang.,Hu, Ying.,Tian, Wei.,Zhang, Peng.,Song, Zhangjun.,...&Li, Bing.(2016).Kinematics and cooperative control of a robotic spinal surgery system.ROBOTICA. |
| MLA | Jin, Haiyang,et al."Kinematics and cooperative control of a robotic spinal surgery system".ROBOTICA (2016). |
入库方式： OAI收割
来源：深圳先进技术研究院
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